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1.
《Mechatronics》2021
Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm. 相似文献
2.
Mauro Sassu 《Canadian Metallurgical Quarterly》2003,129(6):607-612
A plane elastic-plastic solid body presenting kinematic hardening is used to simulate a pair of dampers at the base of a rigid structure and determine the energy dissipation under conditions of assigned, homogeneous cyclic loading. The well-known von Mises theory of plasticity is applied with the aim of obtaining analytical solutions to the problem. Such solutions are arrived at by first calculating the Odqvist parameter, which yields dimensionless relations that depend on the external loads and mechanical properties of the material. The results, in terms of dissipated energy, are given for the case of a sinusoidal process, represented with the help of dimensionless parameters useful for engineering applications. 相似文献
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3-DOF translational parallel manipulators have been developed in many different forms, but they still have respective disadvantages in different applications. To overcome their disadvantages, the structure and constraint design of a 3-DOF translational parallel manipulator is presented and named the Tri-pyramid Robot. In the constraint design of the presented manipulator, a conical displacement subset is defined based on displacement group theory. A triangular pyramidal constraint is presented and applied in the constraint designs between the manipulator?s subchains. The structural properties including the decoupled motions, overconstraint elimination, singularity free workspace, fixed actuators and isotropic configuration are analyzed and compared to existing structures. The Tri-pyramid Robot is constrained and realized by a minimal number of 1-DOF joints. The kinematic position solutions, workspace with variation of structural parameters, Jacobian matrix, isotropic and dexterity analysis are performed and evaluated in the numerical simulations. 相似文献
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The kinematics/statics and workspace of a 2(SP+SPR+SPU) serial–parallel manipulator are studied systematically. First, a 2(SP+SPR+SPU)
manipulator including an upper and a lower SP+SPR+SPU parallel manipulators is constructed, and the inverse/forward displacements,
velocity, acceleration and statics of the lower/upper parallel manipulators are studied, respectively. Second, the kinematics
and statics of the lower/upper manipulators are combined and the displacement, velocity, acceleration, statics, and workspace
of a 2(SP+SPR+SPU) manipulator are analyzed systematically. Third, the analytic solutions’ examples are given and verified
by the simulation mechanism. This manipulator has some potential applications for the robot’s arm, leg, and twist, the serial–parallel
machine tools, the sensor, the surgical manipulator, the tunnel borer, the barbette of warship, and the satellite surveillance
platform. 相似文献
8.
Custodians engage in strenuous manual labour throughout their workday. Uncertainty exists on whether kinematics or muscle activation changes as workers progress through their shift. The purpose of this study was to examine muscle activation and upper extremity kinematics during typical custodial tasks performed at the start and end of the work shift. Electromyography (EMG) of 8 torso and upper extremity muscles and motion capture of the corresponding region were collected for 10 custodial participants while they completed garbage removal, dry mopping, and vacuuming tasks at the start and end of a work shift. The start of shift assessment demonstrated larger anterior deltoid, posterior deltoid and extensor digitorum activation by up to 12.6 %maximal voluntary contraction (%MVC) (p < 0.001–0.023). Task affected mean and peak EMG in all muscles except flexor digitorum (p < 0.001–0.0293), and the greatest activation was found during vacuuming (peak <55%MVC in anterior and middle deltoid) and the heaviest garbage removal task (84% MVC peak in upper trapezius). Mopping created the lowest amounts of activation for almost all muscles. Joint range of motion (p < 0.001–0.031) in the shoulder was highest in vacuuming, while trunk flexion was largest in garbage removal tasks. This work replicated common custodial tasks in a laboratory, using actual custodial workers at times relevant to their typical work shifts. The information presented is useful for ergonomists, work tasks designers and custodial administration staff to develop guidelines for injury prevention. 相似文献
9.
Exploring a virtual model under simulated environments is the best way to learn about a real system. This is particularly true in robotics where it is quite expensive to provide the system to each individual. The interdisciplinary area of robotics is being studied commonly in various fields like electrical, computer, mechanical engineering, nanotechnology, etc. A virtual robot system can help one fully understand the controls and working of a robot. The system may also be helpful to design the path and plan the trajectory of a robot in an industrial environment or other robotics application. Virtual model of RV-M1 robot has been developed in the MATLAB environment. The virtual system performs forward kinematics and inverse kinematics in addition to providing a simulation of the robot teachbox. 相似文献
10.
This paper presents a systematic method to establish the kinematics model for a tracked mobile manipulator on firm grounds, with consideration of the interactive motions between the tracks and the terrain, as well as those between the tracked vehicle and the onboard manipulator. Kinematics analysis is essential for real-time pose estimation and online autonomous navigation of tracked mobile manipulators. Furthermore, to improve the effectiveness of motion planning, and to simulate or control tracked mobile manipulators, a reliable kinematics model is required. However, kinematics modeling for a tracked mobile manipulator is complicated by the fact that there are infinite number of contact points between the tracks and the terrain, which makes slippage unavoidable. The track–terrain and vehicle–manipulator interactions make the problem even more complicated as the motion of the onboard manipulator and the centrifugal forces during moderate or high speed motion give rise to transfer of the load distribution, which will affect the longitudinal and lateral tractive forces and the resistance. Also, the motion of the mobile platform contributes to the inertial forces of the manipulator, and the track–terrain interactive forces help balance the gravity as well as the manipulation forces. The developed kinematics modeling approach is presented on the basis of a tracked mobile manipulator in our laboratory, but the forward kinematics analysis method, and the track–terrain and vehicle–manipulator interaction analysis algorithm are general, and can be used for any tracked mobile manipulators with little modification. This work lays a solid foundation for autonomous control, online slippage estimation, real-time traction optimization as well as tip-over prediction and prevention of tracked mobile manipulators. 相似文献